CN105880882B - A kind of robot system for pipe fitting welding - Google Patents
A kind of robot system for pipe fitting welding Download PDFInfo
- Publication number
- CN105880882B CN105880882B CN201610409131.4A CN201610409131A CN105880882B CN 105880882 B CN105880882 B CN 105880882B CN 201610409131 A CN201610409131 A CN 201610409131A CN 105880882 B CN105880882 B CN 105880882B
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- freedom
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/10—Pipe-lines
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot system for pipe fitting welding, including multiple degrees of freedom weld jig, multiple degrees of freedom welding manipulator, CCD camera and control cabinet, multiple degrees of freedom weld jig, multiple degrees of freedom welding manipulator, CCD camera electrically connects with control cabinet, multiple degrees of freedom weld jig and multiple degrees of freedom welding manipulator are oppositely arranged, CCD camera is located at the top of multiple degrees of freedom welding manipulator, control cabinet is located at the side of multiple degrees of freedom welding manipulator, control cabinet host computer, PLC and display, PLC constantly controls multiple degrees of freedom weld jig, the action of multiple degrees of freedom welding manipulator, CCD camera moves with multiple degrees of freedom welding manipulator, and the workpiece in welding process is taken pictures.The clip claw assembly of the robot system can automatic open-close, realize the fixation and taking-up of pipe fitting, and then facility is brought to operative employee, improve welding efficiency.
Description
Technical field：
The present invention relates to technical field of welding equipment, and in particular to a kind of robot system for pipe fitting welding.
Background technology：
In the plant equipment that the industries such as shipyard, oil, petrochemical industry, chemical industry, power plant use, often in the presence of substantial amounts of bend pipe,
The endless members such as flange.During processing, manufacture, assembling above-mentioned plant equipment, generally require to above-mentioned bend pipe, flange etc.
The interior angle of part, the two of exterior angle annular weld beads are welded.Traditional welding method is by handmade rotary welding workpiece
Method is welded.In this way, not only labor intensity is big, operation inconvenience, and welding quality is difficult to be guaranteed.
In order to solve the above problems, Chinese No. 200820032345.5 patent discloses one kind and is used in pipe pipe welding head
On guide frame, the guide frame solves the problems, such as that welding workpiece rotates automatically.But in actual use, work
It is found that after welding workpiece is welded, the opening on breach and housing on gear ring often misplaces.In order to take out what is welded
Welding workpiece, workpeople need to click on the button on welding gun manually to rotate gear ring so that on the breach and housing on gear ring
Opening overlaps, consequently facilitating taking out welding workpiece.Inconvenience not only so is brought to operative employee, and reduces welding effect
Rate.
The content of the invention：
The purpose of the present invention is aiming at the deficiencies in the prior art, there is provided a kind of robot system for pipe fitting welding,
The clip claw assembly of the robot system can automatic open-close, realize the fixation and taking-up of pipe fitting, and then bring just to operative employee
Profit, improve welding efficiency.
The technology solution of the present invention is as follows：
A kind of robot system for pipe fitting welding, including multiple degrees of freedom weld jig, multiple degrees of freedom welding manipulator,
CCD camera and control cabinet, multiple degrees of freedom weld jig, multiple degrees of freedom welding manipulator, CCD camera are electrically connected with control cabinet
Connect, multiple degrees of freedom weld jig and multiple degrees of freedom welding manipulator are oppositely arranged, and CCD camera is located at multiple degrees of freedom welding manipulator
Top, control cabinet is located at the side of multiple degrees of freedom welding manipulator, and control cabinet includes host computer, PLC and display,
PLC controls the action of multiple degrees of freedom weld jig, multiple degrees of freedom welding manipulator in real time, and CCD camera is with how free
Welding manipulator movement is spent, and the workpiece in welding process is taken pictures, in welding process, workpiece is by multiple degrees of freedom weld clip
Tool is promptly fixed, and multiple degrees of freedom welding manipulator is subjected to workpiece, and CCD camera is shot every preset time to workpiece
One photo, and the photo of shooting is passed into host computer, host computer carries out analysis judgement to photographic intelligence, if analysis judges
It is qualified to go out welding quality, qualifying signal is passed to PLC, PLC control multiple degrees of freedom electroplating equipment wielding machine by host computer
Hand stops welding, and controls multiple degrees of freedom weld jig to turn an angle and workpiece is placed at workpiece collection, subsequently enters
The welding process of next workpiece；If analysis judges that welding quality is unqualified, unqualified signal is passed to PLC controls by host computer
Device, PLC control multiple degrees of freedom welding manipulator continues welding until welding operation is completed, and display can show workpiece
The photo taken, transfers and checks at any time for operating personnel.
As the preferred of above-mentioned technical proposal, PLC includes PLC microprocessors and Control System Software part,
The exploitation and welding primary control program establishment of Control System Software part including I/O human-computer interaction programs, can manually/press automatically
Button conversion operation pattern.
As the preferred of above-mentioned technical proposal, multiple degrees of freedom weld jig includes firm banking, is welded with firm banking
Rotating base, rotating base are discoid, and rotating base bottom is connected with rotary drive mechanism, is welded with rotating base
Fixture, fixture end set have a connection otic placode of a pair of opposing, and first is hinged with by jointed shaft in connection otic placode
Swing arm, the end of the first swing arm are rotatablely connected with the second swing arm, and the end of the second swing arm is fixed by tumbler to be connected
It is connected to clip claw assembly.
As the preferred of above-mentioned technical proposal, firm banking is made up of square plate, and the corner of firm banking passes through first
Fixing bolt fixes on the ground, and the first fixing bolt is hex bolts.
As the preferred of above-mentioned technical proposal, multiple degrees of freedom welding manipulator includes support base, the top of support base
Cabinet is welded with, mechanical arm is rotatably connected on cabinet, one end of mechanical arm is connected by rotary shaft with cabinet, mechanical arm
Drive mechanism is located at the opposite side of cabinet and is fixedly connected with rotary shaft, and lifting chute is offered on mechanical arm, lifts in chute
Slip is provided with lifting arm, and the lifting carriage of lifting arm is completed by lifting tooth rack-and-pinion, and the end of lifting arm is stretched
Telescopic arm is socketed with, CCD camera is fixed with telescopic arm, the end universal hinging of telescopic arm has plumb joint.
As the preferred of above-mentioned technical proposal, support base is made up of rectangle steel plate, and the corner of support base passes through
Two fixing bolts fix on the ground, and the second fixing bolt is hex bolts.
As the preferred of above-mentioned technical proposal, clip claw assembly includes clamping jaw fixed seat, and clamping jaw fixed seat both ends are provided with
Be hinged otic placode, the be hinged otic placode of both sides have been respectively articulated with the end of the first jig arm and the second jig arm, the first jig arm and the second jig arm
The first clamping plate and the second clamping plate have been respectively articulated with, telescopic oil cylinder has been fixed with clamping jaw fixed seat, the second clamping plate is with stretching
The piston-rod end of oil cylinder is hinged by the 3rd connector, and the first clamping plate passes through the company of combination with the piston-rod end of telescopic oil cylinder
Fitting is hinged, and combined connection component includes the first connector and the second connector, wherein, one end of the first connector is connected with second
Part is hinged, and the other end of the first connector is hinged with the first clamping plate, the piston-rod end hinge of the second connector and telescopic oil cylinder
Connect.
The beneficial effects of the present invention are：The clip claw assembly of the robot system can automatic open-close, realize consolidating for pipe fitting
Fixed and taking-up, and then facility is brought to operative employee, improve welding efficiency.
Brief description of the drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of multiple degrees of freedom weld jig；
Fig. 3 is the structural representation of multiple degrees of freedom welding manipulator；
Fig. 4 is the structural representation of clip claw assembly.
Embodiment：
In order that the above objects, features and advantages of the present invention can be more obvious understandable, below in conjunction with the accompanying drawings to this hair
Bright embodiment is described in detail.
As shown in figure 1, the robot system for pipe fitting welding includes multiple degrees of freedom weld jig 1, multiple degrees of freedom welds
Manipulator 2, CCD camera 4 and control cabinet 3, multiple degrees of freedom weld jig 1, multiple degrees of freedom welding manipulator 2, CCD camera 4 are equal
Electrically connected with control cabinet 3, multiple degrees of freedom weld jig 1 and multiple degrees of freedom welding manipulator 2 are oppositely arranged, and CCD camera 4 is positioned at more
The top of free degree welding manipulator 2, control cabinet 3 are located at the side of multiple degrees of freedom welding manipulator 2, and control cabinet 3 includes upper
Machine, PLC and display, PLC control multiple degrees of freedom weld jig 1, multiple degrees of freedom welding manipulator 2 in real time
Action, CCD camera 4 is moved with multiple degrees of freedom welding manipulator 2, and the workpiece in welding process is taken pictures, and is welded
Cheng Zhong, workpiece are promptly fixed by multiple degrees of freedom weld jig 1, and multiple degrees of freedom welding manipulator 2 is subjected to workpiece,
CCD camera 4 shoots a photo to workpiece every preset time, and the photo of shooting is passed into host computer, host computer control
Piece information carries out analysis judgement, if analysis judges that welding quality is qualified, qualifying signal is passed to PLC controls by host computer
Device, PLC control multiple degrees of freedom welding manipulator 2 stops welding, and controls multiple degrees of freedom weld jig 1 to rotate certain angle
Workpiece is placed at workpiece collection by degree, subsequently enters the welding process of next workpiece；If analysis judges that welding quality does not conform to
Unqualified signal is passed to PLC by lattice, host computer, and PLC control multiple degrees of freedom welding manipulator 2 continues to weld
Until welding operation is completed, display can show the photo that workpiece is taken, transfer and check at any time for operating personnel.
PLC includes PLC microprocessors and Control System Software part, and Control System Software part includes I/O
The exploitation and welding primary control program establishment of human-computer interaction program, can manually/automatic button conversion operation pattern.
As shown in Fig. 2 multiple degrees of freedom weld jig 1 includes firm banking 11, rotating base is welded with firm banking 11
12, rotating base 12 is discoid, and the bottom of rotating base 12 is connected with rotary drive mechanism, is welded with rotating base 12
Fixture 13, the end set of fixture 13 have the connection otic placode of a pair of opposing, are hinged with connection otic placode by jointed shaft
First swing arm 14, the end of the first swing arm 14 are rotatablely connected with the second swing arm 15, and the end of the second swing arm 15 passes through
Tumbler is fixedly connected with clip claw assembly 5.
Firm banking 11 is made up of square plate, and the corner of firm banking 11 is fixed on ground by the first fixing bolt
On, the first fixing bolt is hex bolts.
As shown in figure 3, multiple degrees of freedom welding manipulator 2 includes support base 21, the upper weld of support base 21 is fixed
There is cabinet 22, mechanical arm 24 is rotatably connected on cabinet 22, one end of mechanical arm 24 is connected by rotary shaft 23 with cabinet 22, machine
The drive mechanism of tool arm 24 is located at the opposite side of cabinet and is fixedly connected with rotary shaft 23, and lifting chute is offered on mechanical arm 24,
Slided in lifting chute and be provided with lifting arm 25, the lifting carriage of lifting arm 25 is completed by lifting tooth rack-and-pinion, is risen
The end of drop arm 25 is flexible to be socketed with telescopic arm 26, and CCD camera 4, the universal hinge in end of telescopic arm 26 are fixed with telescopic arm 26
It is connected to plumb joint 27.
Support base 21 is made up of rectangle steel plate, and the corner of support base 21 is fixed on ground by the second fixing bolt
On, the second fixing bolt is hex bolts.
As shown in figure 4, clip claw assembly 5 includes clamping jaw fixed seat 51, the both ends of clamping jaw fixed seat 51 are provided be hinged otic placode,
The be hinged otic placode of both sides has been respectively articulated with the end of the first jig arm 521 and the second jig arm 522, the first jig arm 521 and the second jig arm 522
End has been respectively articulated with the first clamping plate 541 and the second clamping plate 542, is fixed with telescopic oil cylinder 55 in clamping jaw fixed seat 51, and second
The piston-rod end of clamping plate 542 and telescopic oil cylinder 55 is hinged by the 3rd connector, the first clamping plate 541 and telescopic oil cylinder 55
Piston-rod end be hinged by combined connection component, combined connection component includes the first connector 531 and the second connector 532, its
In, one end of the first connector 531 is be hinged with the second connector 532, the other end and the first clamping plate of the first connector 531
541 is be hinged, and the piston-rod end of the second connector 532 and telescopic oil cylinder 55 is hinged.
The embodiment is to the illustrative present invention, not for the limitation present invention.Any those skilled in the art
The embodiment can be modified under the spirit and scope without prejudice to the present invention, therefore the rights protection model of the present invention
Enclose, should be as listed by the claim of the present invention.
Claims (2)
- A kind of 1. robot system for pipe fitting welding, it is characterised in that：Including multiple degrees of freedom weld jig (1), how free Spend welding manipulator (2), CCD camera (4) and control cabinet (3), multiple degrees of freedom weld jig (1), multiple degrees of freedom electroplating equipment wielding machine Hand (2), CCD camera (4) electrically connect with control cabinet (3), multiple degrees of freedom weld jig (1) and multiple degrees of freedom welding manipulator (2) it is oppositely arranged, CCD camera (4) is located at the top of multiple degrees of freedom welding manipulator (2), and control cabinet (3) is located at multiple degrees of freedom weldering The side of welding manipulator (2), control cabinet (3) include host computer, PLC and display, and control is more certainly in real time for PLC By the action of degree weld jig (1), multiple degrees of freedom welding manipulator (2), CCD camera (4) is with multiple degrees of freedom welding manipulator (2) it is mobile, and the workpiece in welding process is taken pictures, in welding process, workpiece is firmly grasped by multiple degrees of freedom weld jig (1) Fixed, multiple degrees of freedom welding manipulator (2) is subjected to workpiece, and CCD camera (4) is shot every preset time to workpiece One photo, and the photo of shooting is passed into host computer, host computer carries out analysis judgement to photographic intelligence, if analysis judges It is qualified to go out welding quality, qualifying signal is passed to PLC, PLC control multiple degrees of freedom electroplating equipment wielding machine by host computer Hand (2) stops welding, and controls multiple degrees of freedom weld jig (1) to turn an angle and workpiece is placed at workpiece collection, with Enter the welding process of next workpiece afterwards；If analysis judges that welding quality is unqualified, host computer passes to unqualified signal PLC, PLC control multiple degrees of freedom welding manipulator (2) continues welding to be completed until welding operation, display energy The photo that workpiece is taken enough is shown, transfers and checks at any time for operating personnel；Multiple degrees of freedom weld jig (1) includes firm banking (11) rotating base (12), is welded with firm banking (11), rotating base (12) is discoid, and rotating base (12) bottom connects Rotary drive mechanism is connected to, fixture (13) is welded with rotating base (12), fixture (13) end set has a pair The connection otic placode being oppositely arranged, the first swing arm (14) is hinged with by jointed shaft in connection otic placode, the first swing arm (14) End is rotatablely connected with the second swing arm (15), and the end of the second swing arm (15) is fixedly connected with clip claw assembly by tumbler (5)；Firm banking (11) is made up of square plate, and the corner of firm banking (11) is fixed on ground by the first fixing bolt On, the first fixing bolt is hex bolts；Multiple degrees of freedom welding manipulator (2) includes support base (21), support base (21) Upper weld be fixed with cabinet (22), mechanical arm (24) is rotatably connected on cabinet (22), one end of mechanical arm (24) passes through Rotary shaft (23) is connected with cabinet (22), and mechanical arm (24) drive mechanism is located at the opposite side of cabinet and fixed with rotary shaft (23) Connect, lifting chute is offered on mechanical arm (24), is slided in lifting chute and is provided with lifting arm (25), the liter of lifting arm (25) Drop is slided and completed by lifting tooth rack-and-pinion, and the end of lifting arm (25) is flexible to be socketed with telescopic arm (26), telescopic arm (26) CCD camera (4) is fixed with, the end universal hinging of telescopic arm (26) has plumb joint (27)；Support base (21) is length Square plate is made, and the corner of support base (21) is fixed on the ground by the second fixing bolt, and the second fixing bolt is six Corner bolt；Clip claw assembly (5) includes clamping jaw fixed seat (51), and clamping jaw fixed seat (51) both ends are provided be hinged otic placode, both sides Be hinged otic placode be respectively articulated with the first jig arm (521) and the second jig arm (522), the first jig arm (521) and the second jig arm (522) End be respectively articulated with the first clamping plate (541) and the second clamping plate (542), flexible oil is fixed with clamping jaw fixed seat (51) Cylinder (55), the piston-rod end of the second clamping plate (542) and telescopic oil cylinder (55) are hinged by the 3rd connector, the first clamping plate (541) piston-rod end with telescopic oil cylinder (55) is hinged by combined connection component, and combined connection component includes the first connector (531) and the second connector (532), wherein, one end of the first connector (531) and the second connector (532) are be hinged, and first connects The other end and the first clamping plate (541) of fitting (531) are be hinged, the piston rod of the second connector (532) and telescopic oil cylinder (55) End is hinged.
- A kind of 2. robot system for pipe fitting welding according to claim 1, it is characterised in that：PLC bag Include PLC microprocessors and Control System Software part, Control System Software part include I/O human-computer interaction programs exploitation and Primary control program establishment is welded, can manually/automatic button conversion operation pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409131.4A CN105880882B (en) | 2016-06-08 | 2016-06-08 | A kind of robot system for pipe fitting welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409131.4A CN105880882B (en) | 2016-06-08 | 2016-06-08 | A kind of robot system for pipe fitting welding |
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| Publication Number | Publication Date |
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| CN105880882A CN105880882A (en) | 2016-08-24 |
| CN105880882B true CN105880882B (en) | 2018-01-09 |
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| CN201610409131.4A Active CN105880882B (en) | 2016-06-08 | 2016-06-08 | A kind of robot system for pipe fitting welding |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945260B (en) * | 2017-03-09 | 2019-02-26 | 东莞市超融实业有限公司 | A kind of stretcher that chemical industry is prepared with PET plastic |
| CN108500515A (en) * | 2018-04-04 | 2018-09-07 | 邵阳学院 | A kind of Mobile welding equipment |
| CN111047702A (en) * | 2019-12-18 | 2020-04-21 | 成都飞机工业（集团）有限责任公司 | Automatic welding method for flange bent pipe based on binocular vision |
| CN110977320B (en) * | 2020-03-05 | 2020-06-12 | 潍坊东方钢管有限公司 | Pipeline clamping debugging device |
| CN111644802A (en) * | 2020-07-10 | 2020-09-11 | 刘海涛 | Pipeline welding clamp for ocean vessel |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5537868B2 (en) * | 2009-08-26 | 2014-07-02 | 株式会社アマダ | Welding robot |
| JP6170345B2 (en) * | 2013-06-03 | 2017-07-26 | 株式会社アマダホールディングス | Automatic correction system and method |
| CN204989047U (en) * | 2015-06-29 | 2016-01-20 | 华中科技大学 | Welding quality analytical equipment based on infrared vision |
| CN105150191A (en) * | 2015-08-11 | 2015-12-16 | 德州耐垦工业自动化设备有限公司 | Horizontal multi-joint robot |
| CN105370226B (en) * | 2015-11-02 | 2017-12-08 | 湖南三一石油科技有限公司 | Oil drilling and extracting equipment, drilling floor surface manipulator and tubing string help mechanism |
| CN105397244B (en) * | 2015-11-27 | 2017-06-23 | 大连理工大学 | A kind of pile end board multistation robot Intelligent welding system |
| CN205702953U (en) * | 2016-06-08 | 2016-11-23 | 佛山市联智新创科技有限公司 | A kind of robot system for pipe fitting welding |
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Inventor after: Lin Jianlan Inventor before: Fu Shuzhen |
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Effective date of registration: 20171208 Address after: 526108 Jindu Town, Jindu Town, Gaoyao Town, Zhaoqing, Guangdong Province, Jindu Industrial Park Applicant after: Zhaoqing friendship long Technology Co., Ltd. Address before: 528200 Guangdong Province Nanhai District of Foshan City, Guicheng Summer East is Wai Industrial Zone Foshan City Lianzhi Science & Technology Co Ltd Applicant before: FOSHAN LIANZHI XINCHUANG TECHNOLOGY CO., LTD. |
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